Construct interface

roboy_control_msgs/CMakeLists.txt

@@ -25,6 +25,7 @@ set(msg_files
   "msg/ViaPoint.msg"
   "msg/EndEffector.msg"
 	"msg/Strings.msg"
+	"msg/EFPose.msg"
         # PerformMovementActionFeedback.msg
         # PerformMovementActionGoal.msg
         # PerformMovementAction.msg

roboy_control_msgs/msg/EFPose.msg

@@ -0,0 +1,2 @@
+string ef_name
+geometry_msgs/Pose ef_pose

roboy_middleware_msgs/CMakeLists.txt

@@ -14,6 +14,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(roboy_simulation_msgs REQUIRED)
 
 #include_directories(
 #		/home/missxa/intel/embedded//ip/altera/hps/altera_hps/hwlib/${ALT_DEVICE_FAMILY}
@@ -43,6 +44,9 @@ set(msg_files
 	"msg/MotorState.msg"
 	"msg/MotorInfo.msg"
 	"msg/Neopixel.msg"
+	"msg/InitExoforceRequest.msg"
+	"msg/ExoforceResponse.msg"
+    "msg/LinkInformation.msg"
 
 )
 
@@ -51,6 +55,8 @@ set(srv_files
 	"srv/DanceTrajectory.srv"
 		"srv/EmergencyStop.srv"
 		"srv/FrameIK.srv"
+		"srv/InitExoforce.srv"
+		"srv/InitStateMapper.srv"
 		"srv/ForwardKinematics.srv"
 	"srv/InverseKinematics.srv"
 	"srv/JointController.srv"
@@ -68,7 +74,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
   ${srv_files}
   DEPENDENCIES
-  std_msgs geometry_msgs
+  std_msgs geometry_msgs roboy_simulation_msgs
 )
 
 

roboy_middleware_msgs/msg/ExoforceResponse.msg

@@ -0,0 +1,2 @@
+bool success
+string message

roboy_middleware_msgs/msg/InitExoforceRequest.msg

@@ -0,0 +1,10 @@
+# The index of the following lists correspond to one end effector, example:
+# ef_name[0] name of the first ef
+# ef_enabled[0] enabled flag of the first ef
+# ef_init_pose[0] init pose of the first ef
+string[] ef_name # posible values ('left_hand'/'right_hand')
+bool[] ef_enabled
+geometry_msgs/Pose[] ef_init_pose
+
+float32 operator_height
+roboy_simulation_msgs/LinkInformation[] roboy_link_information

roboy_middleware_msgs/msg/LinkInformation.msg

@@ -0,0 +1,8 @@
+# id of the link in the simulation
+int32 id
+# name of the link in the simulation
+string name
+# dimentions of the link
+geometry_msgs/Vector3 dimensions
+# initial pose of the link
+geometry_msgs/Pose init_pose

roboy_middleware_msgs/srv/InitExoforce.srv

@@ -0,0 +1,13 @@
+# The index of the following lists correspond to one end effector, example:
+# ef_name[0] name of the first ef
+# ef_enabled[0] enabled flag of the first ef
+# ef_init_pose[0] init pose of the first ef
+string[] ef_name # posible values ('left_hand'/'right_hand')
+bool[] ef_enabled
+geometry_msgs/Pose[] ef_init_pose
+
+float32 operator_height
+roboy_simulation_msgs/LinkInformation[] roboy_link_information
+---
+bool success
+string message

roboy_middleware_msgs/srv/InitStateMapper.srv

@@ -0,0 +1,5 @@
+roboy_simulation_msgs/LinkInformation[] operator_link_information
+roboy_simulation_msgs/LinkInformation[] roboy_link_information
+---
+bool success
+string message